Overboard system for deployment and retrieval of autonomous seismic nodes

ABSTRACT

Embodiments of systems and methods for deploying and retrieving a plurality of autonomous seismic nodes from the back deck of a marine vessel using an overboard node deployment and retrieval system are presented. The overboard system may comprise one or more overboard wheels that are actively powered to move in response to changes in movement of the deployed cable. The overboard system may comprise a first overboard wheel with a plurality of rollers and a second overboard wheel configured to detect movement and/or changes in a position of the deployment line. The overboard system may be configured to move the first overboard wheel in response to movement of the second overboard wheel. In addition, the first overboard wheel may comprise at least one opening or pocket configured to hold a node while the node passes across the wheel. Other seismic devices may also pass through the overboard system, such as transponders and weights attached to the deployment cable.

PRIORITY

The present application is a continuation of U.S. application Ser. No.14/820,285, filed on Aug. 6, 2015, issued as U.S. Pat. No. 9,429,671,which claims priority to U.S. provisional patent application No.62/034,620, filed on Aug. 7, 2014. The entire contents of each of theabove documents is hereby incorporated herein by reference.

BACKGROUND OF THE INVENTION

Field of the Invention

This invention relates to marine seismic systems and more particularlyrelates to the deployment and retrieval of autonomous seismic nodes overthe back deck of a marine vessel using an overboard wheel.

Description of the Related Art

Marine seismic data acquisition and processing generates a profile(image) of a geophysical structure under the seafloor. Reflectionseismology is a method of geophysical exploration to determine theproperties of the Earth's subsurface, which is especially helpful indetermining an accurate location of oil and gas reservoirs or anytargeted features. Marine reflection seismology is based on using acontrolled source of energy (typically acoustic energy) that sends theenergy through seawater and subsurface geologic formations. Thetransmitted acoustic energy propagates downwardly through the subsurfaceas acoustic waves, also referred to as seismic waves or signals. Bymeasuring the time it takes for the reflections or refractions to comeback to seismic receivers (also known as seismic data recorders ornodes), it is possible to evaluate the depth of features causing suchreflections. These features may be associated with subterraneanhydrocarbon deposits or other geological structures of interest.

In general, either ocean bottom cables (OBC) or ocean bottom nodes (OBN)are placed on the seabed. For OBC systems, a cable is placed on theseabed by a surface vessel and may include a large number of seismicsensors, typically connected every 25 or 50 meters into the cable. Thecable provides support to the sensors, and acts as a transmission mediumfor power to the sensors and data received from the sensors. One suchcommercial system is offered by Sercel under the name SeaRay®. RegardingOBN systems, and as compared to seismic streamers and OBC systems, OBNsystems have nodes that are discrete, autonomous units (no directconnection to other nodes or to the marine vessel) where data is storedand recorded during a seismic survey. One such OBN system is offered bythe Applicant under the name Trilobit®. For OBN systems, seismic datarecorders are placed directly on the ocean bottom by a variety ofmechanisms, including by the use of one or more of Autonomous UnderwaterVehicles (AUVs), Remotely Operated Vehicles (ROVs), by dropping ordiving from a surface or subsurface vessel, or by attaching autonomousnodes to a cable that is deployed behind a marine vessel.

Autonomous ocean bottom nodes are independent seismometers, and in atypical application they are self-contained units comprising a housing,frame, skeleton, or shell that includes various internal components suchas geophone and hydrophone sensors, a data recording unit, a referenceclock for time synchronization, and a power source. The power sourcesare typically battery-powered, and in some instances the batteries arerechargeable. In operation, the nodes remain on the seafloor for anextended period of time. Once the data recorders are retrieved, the datais downloaded and batteries may be replaced or recharged in preparationof the next deployment

One known node storage, deployment, and retrieval system is disclosed inU.S. Pat. No. 7,883,292 to Thompson, et al. (“Thompson '292”), and isincorporated herein by reference. Thompson et al. discloses a method andapparatus for storing, deploying and retrieving a plurality of seismicdevices, and discloses attaching the node to the deployment line byusing a rope, tether, chain, or other cable such as a lanyard that istied or otherwise fastened to each node and to a node attachment pointon the deployment line. U.S. Pat. No. 7,990,803 to Ray et al. (“Ray”)discloses a method for attaching an ocean bottom node to a deploymentcable and deploying that node into the water. U.S. Pat. No. 6,024,344 toBuckley, et al. (“Buckley”) also involves attaching seismic nodes to thedeployment line. Buckley teaches that each node may be connected to awire that is then connected to the deployment line though a separateconnector. This connecting wire approach is cumbersome because the wirescan get tangled or knotted, and the seismic nodes and related wiring canbecome snagged or tangled with structures or debris in the water or onthe sea floor or on the marine vessel. U.S. Pat. No. 8,427,900 toFleure, et al. (“Fleure”) and U.S. Pat. No. 8,675,446 to Gateman, et al.(“Gateman”) each disclose a deployment line with integral node casingsor housings for receiving seismic nodes or data recorders. One problemwith integration of the casings with the deployment line is that thedeployment line becomes difficult to manage and store. The integratedcasings make the line difficult to wind onto spools or otherwise storemanageably. In these embodiments, the node casings remain attacheddirectly in-line with the cable, and therefore, this is a difficult andcomplex operation to separate the electronics sensor package from thenode casings. The use of pre-mounted node casings on the deployment lineor pre-cut connecting ropes/wires between the node and the deploymentline do not allow for a flexible change in adjacent nodespacing/distance; any change of node spacing requires a significantamount of cost and time.

The referenced shortcomings are not intended to be exhaustive, butrather are among many that tend to impair the effectiveness ofpreviously known techniques in seafloor deployment systems; however,those mentioned here are sufficient to demonstrate that themethodologies appearing in the art have not been satisfactory and that asignificant need exists for the systems, apparatuses, and techniquesdescribed and claimed in this disclosure.

The existing techniques for attaching an autonomous node to a cable anddeploying that cable overboard a marine vessel suffer from manydisadvantages. As an example, attaching a node to a rope that is coupledto the deployment line often gets tangled during deployment and/orretrieval to the seabed. The spiraling of the tether cable can alsocause problems during the retrieval when separating the node from thecable. Existing overboard chutes, ramps, and wheels also suffer frommany disadvantages. First, existing overboard units have a hard timetracking movement of the cable and the cable often slips off of theoverboard unit during cable deployment and retrieval. Second, while someoverboard wheels may have a wheel coupled to a counterweight for passivemovement, they are not active and/or powered to move, thus lacking thenecessary responsiveness to changes in the movement of a deployed cable.Conventional overboard units are not able to actively change theirposition (such as by rotating or pivoting) when the cable moves relativeto the overboard unit. This is particularly problematic in deep waterapplications, bad weather/sea conditions, changes in vessel direction,speed, or angle, as well movements caused by a vessel roll or changes incrab-angle. Still further, conventional overboard units are not able todeploy and retrieve nodes without causing stress and/or damage (or thepotential of damage) to any attached nodes, particularly to nodes withnode locks that directly attach a node to a cable. A marine vesselshould be configured to efficiently deploy and recover nodes before andafter their use in the water. A novel node deployment system is neededthat is autonomous, limits the need for operator involvement, handling,and attaching/detaching of the nodes, and is very fast and efficient.

SUMMARY OF THE INVENTION

Embodiments of systems and methods for deploying and retrieving aplurality of autonomous seismic nodes from the back deck of a marinevessel using an overboard node deployment and retrieval system.

In one embodiment, the system may comprise a first overboard wheel thatis powered to actively change its position during deployment of aplurality of seismic nodes. The first overboard wheel may be coupled toa second overboard wheel. The first overboard wheel may be configured tomove its position (including by rotating and pivoting) in response tomovement by the second overboard wheel and/or the deployed cable. Thefirst overboard wheel may comprise a plurality of rollers and one ormore pockets configured to receive a node over the first overboard wheelduring deployment and retrieval operations. Other seismic devices mayalso pass through the overboard system, such as transponders and weightsattached to the deployment cable. The first overboard wheel may becoupled to a control system for automatic control of its movement inresponse to one or more measurement sensors.

In one embodiment, a method comprises deploying a deployment line acrossa powered overboard unit, positioning the overboard unit to receive afirst node of a plurality of seismic nodes, and deploying the first nodeinto a body of water. The method may further comprise detecting movementby a second overboard wheel and/or the deployed cable and changing theposition of the overboard unit in response to such movement. The methodmay further comprise retrieving a plurality of deployed autonomousseismic nodes across the first overboard wheel.

BRIEF DESCRIPTION OF THE DRAWINGS

The following drawings form part of the present specification and areincluded to further demonstrate certain aspects of the presentinvention. The invention may be better understood by reference to one ormore of these drawings in combination with the detailed description ofspecific embodiments presented herein.

FIG. 1A is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 1B is a schematic diagram illustrating one embodiment of a systemfor marine deployment of an autonomous seismic node.

FIG. 2A illustrates a perspective view diagram of one embodiment of anautonomous seismic node.

FIG. 2B illustrates a perspective view diagram of another embodiment ofan autonomous seismic node.

FIG. 3 is a schematic diagram illustrating one embodiment of a nodedeployment system and a node storage and service system on the back deckof a marine vessel.

FIG. 4A illustrates a side view of one embodiment of a deploymentsystem.

FIG. 4B illustrates a top view of one embodiment of a deployment system.

FIG. 4C illustrates a side view of another embodiment of a deploymentsystem.

FIG. 5A is a perspective view diagram illustrating one embodiment of anoverboard unit system with the overboard unit in the deployed mode.

FIG. 5B is a side view diagram illustrating one embodiment of anoverboard unit system with the overboard unit in the deployed mode.

FIG. 5C is a top view diagram illustrating one embodiment of anoverboard unit system with the overboard unit in the deployed mode.

FIG. 6A is an enlarged side view diagram illustrating one embodiment ofan overboard unit system with the overboard unit in the deployed mode.

FIG. 6B is an enlarged top view diagram illustrating one embodiment ofan overboard unit system with the overboard unit in the deployed mode.

FIG. 7A is a perspective view diagram illustrating one embodiment of anoverboard wheel.

FIG. 7B is a cross-sectional side view diagram illustrating oneembodiment of an overboard wheel.

FIG. 7C is a perspective view diagram illustrating one embodiment of aroller module.

FIG. 7D is a front view diagram illustrating one embodiment of a rollermodule.

FIGS. 8A-8E illustrate end view diagrams of one embodiment of anoverboard wheel and a cable detection wheel in various operationalpositions.

FIGS. 9A-9C illustrate side view diagrams of one embodiment of anoverboard wheel and a cable detection wheel in various operationalpositions.

FIG. 10 illustrates one embodiment of a method of deploying a pluralityof seismic nodes coupled to a deployment line.

FIG. 11 illustrates one embodiment of a method of retrieving a pluralityof seismic nodes coupled to a deployment line.

DETAILED DESCRIPTION

Various features and advantageous details are explained more fully withreference to the non-limiting embodiments that are illustrated in theaccompanying drawings and detailed in the following description.Descriptions of well-known starting materials, processing techniques,components, and equipment are omitted so as not to unnecessarily obscurethe invention in detail. It should be understood, however, that thedetailed description and the specific examples, while indicatingembodiments of the invention, are given by way of illustration only, andnot by way of limitation. Various substitutions, modifications,additions, and/or rearrangements within the spirit and/or scope of theunderlying inventive concept will become apparent to those skilled inthe art from this disclosure. The following detailed description doesnot limit the invention.

Reference throughout the specification to “one embodiment” or “anembodiment” means that a particular feature, structure, orcharacteristic described in connection with an embodiment is included inat least one embodiment of the subject matter disclosed. Thus, theappearance of the phrases “in one embodiment” or “in an embodiment” invarious places throughout the specification is not necessarily referringto the same embodiment. Further, the particular features, structures, orcharacteristics may be combined in any suitable manner in one or moreembodiments.

Node Deployment

FIGS. 1A and 1B illustrate a layout of a seabed seismic recorder systemthat may be used with autonomous seismic nodes for marine deployment.FIG. 1A is a diagram illustrating one embodiment of a marine deploymentsystem 100 for marine deployment of seismic nodes 110. One or moremarine vessels deploy and recover a cable (or rope) with attached sensornodes according to a particular survey pattern. In an embodiment, thesystem includes a marine vessel 106 designed to float on a surface 102of a body of water, which may be a river, lake, ocean, or any other bodyof water. The marine vessel 106 may deploy the seismic nodes 110 in thebody of water or on the floor 104 of the body of water, such as aseabed. In an embodiment, the marine vessel 106 may include one or moredeployment lines 108. One or more seismic nodes 110 may be attacheddirectly to the deployment line 108. Additionally, the marine deploymentsystem 100 may include one or more acoustic positioning transponders112, one or more weights 114, one or more pop up buoys 116, and one ormore surface buoys 118. As is standard in the art, weights 114 can beused at various positions of the cable to facilitate the lowering andpositioning of the cable, and surface buoys 118 or pop up buoys 116 maybe used on the cable to locate, retrieve, and/or raise various portionsof the cable. Acoustic positioning transponders 112 may also be usedselectively on various portions of the cable to determine the positionsof the cable/sensors during deployment and post deployment. The acousticpositioning transponders 112 may transmit on request an acoustic signalto the marine vessel for indicating the positioning of seismic nodes 110on sea floor 104. In an embodiment, weights 114 may be coupled todeployment line 108 and be arranged to keep the seismic nodes 110 in aspecific position relative to sea floor 104 at various points, such asduring start, stop, and snaking of deployment line 108.

FIG. 1B is a close-up view illustrating one embodiment of a system 100for marine deployment of seismic nodes 110. In an embodiment, thedeployment line 108 may be a metal cable (steel, galvanized steel, orstainless steel). Alternatively, the deployment line 108 may includechain linkage, rope (polymer), wire, or any other suitable material fortethering to the marine vessel 106 and deploying one or more seismicnodes 110. In an embodiment, the deployment line 108 and the seismicnodes 110 may be stored on the marine vessel 106. For example, thedeployment line may be stored on a spool or reel or winch. The seismicnodes 110 may be stored in one or more storage containers. One ofordinary skill may recognize alternative methods for storing anddeploying the deployment line 108 and the seismic nodes 110.

In one embodiment, the deployment line 108 and seismic nodes 110 arestored on marine vessel 106 and deployed from a back deck of the vessel106, although other deployment locations from the vessel can be used. Asis well known in the art, a deployment line 108, such as a rope orcable, with a weight attached to its free end is dropped from the backdeck of the vessel. The seismic nodes 110 are preferably directlyattached in-line to the deployment line 108 at a regular, variable, orselectable interval (such as 25 meters) while the deployment line 108 islowered through the water column and draped linearly or at variedspacing onto the seabed. During recovery each seismic node 110 may beclipped off the deployment line 108 as it reaches deck level of thevessel 106. Preferably, nodes 110 are attached directly onto thedeployment line 108 in an automated process using node attachment orcoupling machines on board the deck of the marine vessel 106 at one ormore workstations or containers. Likewise, a node detaching ordecoupling machine is configured to detach or otherwise disengage theseismic nodes 110 from the deployment line 108, and in some instancesmay use a detachment tool for such detaching. Alternatively, seismicnodes 110 can be attached via manual or semi-automatic methods. Theseismic nodes 110 can be attached to the deployment line 108 in avariety of configurations, which allows for proper rotation of theseismic node 110 about the deployment line 108 and allows for minimalaxial movement on deployment line 108. For example, the deployment line108 can be attached to the top, side, or center of seismic node 110 viaa variety of configurations.

Once the deployment line 108 and the seismic nodes 110 are deployed onthe sea floor 104, a seismic survey can be performed. One or more marinevessels 106 may contain a seismic energy source (not shown) and transmitacoustic signals to the sea floor 104 for data acquisition by theseismic nodes 110. Embodiments of the system 100 may be deployed in bothcoastal and offshore waters in various depths of water. For example, thesystem may be deployed in a few meters of water or in up to severalthousand meters of water. In some embodiments, the depth may be betweentwenty (20) meters and five hundred (500) meters or more. In someconfigurations surface buoy 118 or pop up buoy 116 may be retrieved bymarine vessel 106 when the seismic nodes 110 are to be retrieved fromthe sea floor 104. Thus, the system 110 may not require retrieval bymeans of a submersible or diver. Rather, pop up buoy 116 or surface buoy118 may be picked up on the surface 102 and deployment line 108 may beretrieved along with seismic nodes 110.

Autonomous Seismic Node Design

FIG. 2A illustrates a perspective view diagram of an autonomous oceanbottom seismic node 110. The seismic node 110 may include a body 202,such as a housing, frame, skeleton, or shell, which may be easilydissembled into various components. Additionally, the seismic node 110may include one or more battery cells 204. In an embodiment, the batterycells 204 may be lithium-ion battery cells or rechargeable battery packsfor an extended endurance (such as 90 days) on the seabed, but one ofordinary skill will recognize that a variety of alternative battery celltypes or configurations may also be used. Additionally, the seismic nodemay include a pressure release valve 216 configured to release unwantedpressure from the seismic node 110 at a pre-set level. The valveprotects against fault conditions like water intrusion and outgassingfrom a battery package. Additionally, the seismic node may include anelectrical connector 214 configured to allow external access toinformation stored by internal electrical components, datacommunication, and power transfer. During the deployment the connectoris covered by a pressure proof watertight cap 218 (shown in FIG. 2B). Inother embodiments, the node does not have an external connector and datais transferred to and from the node wirelessly, such as viaelectromagnetic or optical links.

In an embodiment, the internal electrical components may include one ormore hydrophones 210, one or more (preferably three) geophones 206 oraccelerometers, and a data recorder 212. In an embodiment, the datarecorder 212 may be a digital autonomous recorder configured to storedigital data generated by the sensors or data receivers, such ashydrophone 210 and the one or more geophones or accelerometers 206. Oneof ordinary skill will recognize that more or fewer components may beincluded in the seismic node 110. For example, there are a variety ofsensors that can be incorporated into the node including and notexclusively, inclinometers, rotation sensors, translation sensors,heading sensors, and magnetometers. Except for the hydrophone, thesecomponents are preferably contained within the node housing that isresistant to temperatures and pressures at the bottom of the ocean, asis well known in the art.

While the node in FIG. 2A is circular in shape, the node can be anyvariety of geometric configurations, including square, rectangular,hexagonal, octagonal, cylindrical, and spherical, among other designs,and may or may not be symmetrical about its central axis. In oneembodiment, the node consists of a watertight, sealed case or pressurehousing that contains all of the node's internal components. In oneembodiment, the node is square or substantially square shaped so as tobe substantially a quadrilateral, as shown in FIG. 2B. One of skill inthe art will recognize that such a node is not a two-dimensional object,but includes a height, and in one embodiment may be considered a box,cube, elongated cube, or cuboid. In one embodiment, the node isapproximately 350 mm×350 mm wide/deep with a height of approximately 150mm. In one embodiment, the body 202 of the node has a height ofapproximately 100 mm and other coupling features, such as node locks 220or protrusions 242, may provide an additional 20-50 mm or more height tothe node.

In another embodiment, as shown in FIG. 2B, the node's pressure housingmay be coupled to and/or substantially surrounded by an externalnon-pressurized node housing 240 that may include integrated fendersand/or bumpers. Various portions of the node housing 240 may be open andexpose the pressurized node housing as needed, such as for hydrophone210, node locks 220, and data/power transfer connection 214 (shown witha fitted pressure cap 218 in FIG. 2B). In one embodiment, the upper andlower portions of the fender housing include a plurality of grippingteeth or protrusions 242 for engaging the seabed and for general storageand handling needs. In other embodiments, a bumper is attached to eachof the corners of the node housing via bolts or pins. In anotherembodiment, portions of the housing, such as the corners, includegrooved pockets or recesses or receptacles that engage a correspondingmating unit on the node housing for integrated stacking/storing of thenodes. External node housing 240 provides many functions, such asprotecting the node from shocks and rough treatment, coupling the nodeto the seabed for better readings and stability, and assisting in thestackability, storing, alignment, and handling of the nodes. Each nodehousing may be made of a durable material such as rubber, plastic,carbon fiber, or metal. In still other embodiments, the seismic node 110may include a protective shell or bumper configured to protect the body.

Node Locks

In one embodiment, the seismic node 110 comprises one or more directattachment mechanisms and/or node locks 220 that may be configured todirectly attach the seismic node 110 to a deployment line 108. This maybe referred to as direct or in-line node coupling. In one embodiment,the attachment mechanism 220 comprises a locking mechanism to helpsecure or retain the deployment line 108 to the seismic node 110. Aplurality of direct attachment mechanisms may be located on any surfacesof the node 110 or node housing 240. In one embodiment, a plurality ofnode locks 220 is positioned substantially in the center and/or middleof a surface of a node or node housing. The node locks may attachdirectly to the pressure housing and extend through the node housing240. In this embodiment, a deployment line, when coupled to theplurality of node locks, is substantially coupled to the seismic node onits center axis. In some embodiments, the node locks may be offset orpartially offset from the center axis of the node, which may aid thebalance and handling of the node during deployment and retrieval. Thenode locks 220 are configured to attach, couple, and/or engage a portionof the deployment line to the node. Thus, a plurality of node locks 220operates to couple a plurality of portions of the deployment line to thenode. The node locks are configured to keep the deployment line fastenedto the node during a seismic survey, such as during deployment from avessel until the node reaches the seabed, during recording of seismicdata while on the seabed, and during retrieval of the node from theseabed to a recovery vessel. The disclosed attachment mechanism 220 maybe moved from an open and/or unlocked position to a closed and/or lockedposition via autonomous, semi-autonomous, or manual methods. In oneembodiment, the components of node lock 220 are made of titanium,stainless steel, aluminum, marine bronze, and/or other substantiallyinert and non-corrosive materials.

As shown in FIG. 2B, two node locks 220 are positioned substantially inthe middle top face of the node. The node locks may be asymmetrical andoriented in opposing and/or offset orientations for better stabilitywhen deploying and retrieving the node from the seabed and formanufacturing/assembly purposes. Node locks may be configured in apositively open and/or a positively closed position, depending on thetype of coupling/decoupling machines used. In some embodiments, a springmechanism is used to bias the node lock in a closed and/or openposition, and in other embodiments other biasing members may be used,such as a flexible plate, a torsion spring, or other bendable/twistablebiasing members, as well as offset travel paths for the deployment wirecausing it to act as a spring due to its in-line stiffness. A ferrule orother stopping mechanism 209 may be located on either side of the nodeon the deployment line, which helps prevent movement of the node on thedeployment line, facilitates attaching/detaching of the node from theline, and facilitates seismic acoustic decoupling between the deploymentline and the node. In other embodiments, ferrules and other stoppers canbe used as a single stop between adjacent nodes (e.g., only one ferrulebetween each node), a plurality of redundant stoppers can be usedbetween each node, or a double stopper and swivel type arrangement canbe used between each node. A ferrule or stopper may limit the movementof the node by many configurations, such as by a sliding attachmentpoint where the node slides between the stoppers, or the stopper mayslide inside a cavity of the node and act as a sliding cavity stopper.The position of the stopper(s) on the deployment line and the couplingof the node to the deployment line is configured for acoustic decouplingbetween the node and the deployment line. In one embodiment, thedistance between adjacent ferrules is greater than the width of thenode, which facilitates the node to be seismically de-coupled from thewire/rope of the deployment line. In some embodiments, each node lockacts as a swivel to allow rotation of the node around the deploymentline.

Node Deployment and Retrieval System

As mentioned above, to perform a seismic survey that utilizes autonomousseismic nodes, those nodes must be deployed and retrieved from a vessel,typically a surface vessel. FIG. 3 illustrates a schematic of oneembodiment of a deck handling system 300 of a surface vessel. While thedeck handling system may be located on any portion of the vessel, in oneembodiment it is located on the back deck of a marine vessel. Ofrelevance to FIG. 3, the vessel 301 comprises a back, end, or aftsection 302 and two sides 303. For convenience purposes, the rest of themarine vessel is not shown in FIG. 3. As shown, in one embodiment a nodestorage and service system 310 is coupled to one or more deploymentsystems 320. Node storage and service system 310 is configured to handleand store the nodes before and after the deployment and retrievaloperations performed by node deployment system 320, and is described inmore detail in U.S. patent application Ser. No. 14/711,262, filed on May13, 2015, incorporated herein by reference. Node storage and servicesystem 310 is configured such that each operational task is locatedwithin a container. In one embodiment, each container has separatecontrol systems for local and/or remote operation of the tasks performedin the container. With this modular/container-based system, the additionand/or removal of service and storage containers based on the particularsurvey and/or vessel requirements is straightforward. In one embodiment,node storage and service system 310 consists of a plurality ofcontainers, including cleaning container 312, charging/downloadingcontainers 314, service/maintenance container 316, storage containers318, and auxiliary containers 319, which are interconnected by conveyoror transport system 350. In one embodiment, transport system 350comprises a conveyor section 351 that couples deployment system 320 tonode storage and service system 310 and conveyor section 352 that isconfigured to transfer auxiliary equipment (such as weights andtransponders) between the deployment system and the node storage andservice system. This invention is not dependent upon the particularstorage and service system utilized on board the vessel.

In a first or deployment mode, node deployment system 320 is configuredto receive nodes from node storage and service system 310, to couplethose nodes to a deployment line, and to deploy those nodes into a bodyof water. In a second or retrieval mode, node deployment system 320 isconfigured to retrieve nodes from a body of water, de-couple those nodesfrom a deployment line, and to transfer those nodes to node storage andservice system 310. Thus, node deployment system 320 may also becharacterized as a node retrieval system in some situations. In oneembodiment, the deployment line is stopped in the correct position andthe seismic node is manually attached to the deployment line, and inanother embodiment the seismic node is accelerated to match thedeployment speed of the deployment line and automatically attached tothe deployment line. At the same time, via an automatic, semi-automatic,or manual process, auxiliary equipment (such as weights or transponders)may also be attached to the deployment line at selected intervals. Inone embodiment, transponders, weights, and other seismic devices may bedirectly attached to the deployment cable by coupling one or more nodelocks to the device and/or to a housing surrounding the device. The nodedeployment system is also configured to deploy and retrieve a deploymentline or cable into and from a body of water. The deployment line and/orcable system may be continuously laid down on the seabed, but in someinstances it can be separated and buoyed off at select intervals to copewith obstacles in the water or as required by spread limitations for aparticular survey. Any one or more of these steps may be performed viaautomatic, semi-automatic, or manual methods. In one embodiment, eachnode is coupled to and/or integrated with a node lock, as described inmore detail in U.S. patent application Ser. No. 14/736,926, filed onJun. 11, 2015, incorporated herein by reference. The node locks (andattached nodes) may be coupled to and decoupled from the deployment linevia node deployment system 320.

As shown in FIG. 3, an autonomous seismic node deployment system mayinclude a plurality of containers, with separate containers containingone or more winches in container 326, one or more node installationdevices in container 324, and one or more overboard units in container322, and other devices and/or systems to facilitate deployment and/orretrieval of a plurality of autonomous seismic nodes from the waterbefore and after the nodes are used in a seismic survey. In oneembodiment, the node deployment system 320 is configured to attach anddetach a plurality of nodes 110 to a deployment cable or rope 108 andfor the deployment and retrieval of the cable into the water. In analternative embodiment, the marine vessel includes two such nodedeployment systems, with the second system being either a backup or usedsimultaneously as the first system. In one embodiment, the deploymentsystem receives nodes from the node storage and service system at thenode installation container 324. In one embodiment, the overboard unitcontainer 322 facilitates deployment and retrieval of the deploymentline with the coupled nodes, and may contain one or more overboardwheels at least partially if not entirely extending off of a backportion of the marine vessel. Deployment system may operate inautomatic, semi-automatic, or manual processes. A partially or entirelyautomated system reduces man-power requirements for deployment andretrieval operations and increase overall safety, efficiency, andreliability of the seismic survey. Additionally, such embodiments mayallow for operation in harsh climates.

In some embodiments, the components of the node deployment system may beinstalled longitudinal in standard or custom-made twenty-foot cargocontainers. One embodiment of the node deployment system 320 usesstandard sized ISO shipping containers in a plurality of configurationsfor efficient deployment of the nodes. Standard sized containers aretypically 20 or 40 feet long and 8 feet wide. The heights of suchcontainers may vary from 8 feet for standard height containers to 10feet, 6 inches for high-cube or purpose made containers. In otherembodiments, containers may be custom designed and ISO certified. Eachcontainer preferably has a floor, roof, and sidewalls, with variousportions removed to facilitate transfer of nodes to, from, and withineach container as needed, or to allow service personnel access to thecontainer. These containers may include additional frame supports to thefloor and/or sides. The content of each container is modified for theparticular task of the container, such as line deployment andtensioning, node attaching, and node/line deployment, etc. Thecontainers can be transported via air, road, train, or sea to adestination harbor and mobilized on a suitable vessel. The containersmay be transferred to the deck of a vessel via a crane or other liftingdevice and then secured to the deck and coupled to each other throughvarious fastening mechanisms. The containers may be positioned side toside, end to end, and even on top of each other (up to 3 or 4 levelshigh) on the deck depending on the specific layout of the containers,need of the survey, and requirements of the vessel. The system setup mayvary from job to job and from vessel to vessel, in both layout andnumber of modules/containers utilized.

FIGS. 4A and 4B show various views of a deployment system from a sideand top perspective, respectively. Similar to FIG. 3, node deploymentsystem comprises a first container 410 configured to hold a winch system412, a second container 420 configured to hold a noderoping/coupling/attaching system (and, likewise, aderoping/decoupling/detaching system) 422, and a third container 430configured to hold an overboard unit 432. In one embodiment, the firstand second containers are standard 20 foot long containers and the thirdcontainer is a 40 foot long container. In some embodiments one or moretension control systems 438 and a cleaning system 436 may be utilizedthat may be located in one of the aforementioned containers, such asoverboard unit container 430. Winch system 412 may be coupled to a cablespooling guide 414 that is configured to deploy and retrieve cable froma spool of the winch system and route the cable to node installationcontainer 420. Node attachment system 422 may be coupled to a node feedsystem 424, a node remover 425, and one or more sheaves 426, 428, all ofwhich may be contained within container 420. In other embodimentscontainers are not utilized and the components of the node deploymentsystem may be coupled directly to the back deck of a marine vessel. Inone embodiment, as shown in FIG. 4C, a second deck or level ofcontainers is utilized for additional components of the node deploymentsystem and/or as back-up components. For example, in one embodiment,node deployment system may comprise an additional winch system 412 blocated in second winch container 410 b which sits upon first winchcontainer 410, and an auxiliary equipment container 440 which sits uponnode installation container 420. In some embodiments, portions of thedeployment system may extend out over portions of the deck of the marinevessel. For example, a portion of overboard unit container 430 mayextend beyond the back deck of a marine vessel. For example, overboardunit 432 may be retractable into and out of overboard unit container430.

In one embodiment, the node deployment system may comprise one or morecontrol systems, which may comprise or be coupled to a control systemlocated in each container. In one embodiment an operator may be locatedinside one or more of the containers, or even in a remote location suchas off of the vessel, and operate the entire node deployment system. Inother embodiments, the control system can be operated from asurveillance cabin or by remote control on the deck or by bothlocations. In one embodiment, the control system may be designed forvariable control tension on the deployment line and may interfacevarious components and systems of the node deployment system (such asthe winch, node installation machine, overboard unit, and outboard nodedetection unit) together for smooth operation during retrieval anddeployment. Besides having slow start up and slow down sequences, thesystem may have quick stop options for emergency situations, which canbe activated automatically or manually. In one embodiment, the controlsystem can make various measurements at different portions of thedeployment systems, including tension on the cable, angle of the cable,and speed of the cable, and the like. In some embodiments, the controlsystem continuously obtains and utilizes information about vessel roll,yaw, and pitch (speed and amplitude) and other factors (cable speed,tension, and deployed length) to ensure adequate movement andpositioning of the overboard system and overboard wheel.

Overboard Container

The overboard container facilitates deployment and retrieval of a cablewith coupled nodes to and from the water. In one embodiment, thedeployment cable runs from winch container 410 to node installationcontainer 420 to overboard unit container 430 and then into the sea.Referring to FIGS. 4A-4C, an overboard container may comprise anoverboard unit 432, a cable clamper/stopper 434, a cleaning station 436,one or more cable tension machines 438, a buoy off winch 439, and one ormore auxiliary winches 437. In some embodiments, container 430 is atleast partially disposed over the back deck of the vessel (as shown inFIG. 3).

In one embodiment, cable stopper 434 may be a fixed point that holds thecable end-termination and may be used when joining cables and otherwisewhen an operator needs to de-tension the cable. The cable clamper mayclamp a cable at other locations than at end-terminations, and may clampthe cable for two sides and squeeze hard enough so that the cable maynot escape.

In one embodiment, cleaning station 436 comprises a carriage and awashing unit, and may include node guides running the full length of thecleaning station to assist node travel. In an embodiment, the washingmachine may run on pneumatics and wash with freshwater or seawater. Thelength of the washing machine is configured to allow sufficient time towash, clean, and/or rinse nodes that may be smeared with mud or otherdebris. At full speed of 3 knots (approximately 1.5 m/s), a length offive meters allows approximately three seconds to wash a node. In oneembodiment, a washing carriage inside the cleaning station may grab thecable (such as via one or more ferrules coupled to the cable) ahead of anode and hang onto the node and/or cable over the full length of thewashing machine. Such an embodiment may move longitudinally along one ormore guide rails and may use a pneumatic rodless cylinder (or the like)that returns the washing carriage to the starting point ready for thenext node to arrive for washing. In one embodiment, the cleaning stationincludes a plurality of washing nozzles that spray the nodes from thesides and/or from below, and in other embodiments a plurality of washingnozzles are provided from above the cleaning station and spray the nodesfrom above. The washing nozzles may remain on during the entireretrieval process, or they may be selectively turned on and off when anode enters the cleaning station. The cleaning process can be performedautomatically, semi-automatically, or manually. In other embodiments,the cleaning station and/or the overboard unit container may alsoinclude a fresh water station, such that the nodes are also rinsed withfresh water to reduce the risk of corrosion from salt water. In otherembodiments, the cleaning and/or the overboard unit container may alsoinclude a pneumatic drying station prior to their delivery to the nodestorage and service system.

In other embodiments, the overboard unit container may comprise aplurality of cable tension machines, a cable cutter, a work table, aplurality of winches, and a control system. For example, electricbuoy-off winch 439 may be used to lower the cable end to the seafloorand auxiliary winch 437 may be used to anchor weights and pull out thefirst cable end from the winch and similar functions. As anotherexample, the cable cutter may be used as an emergency tool if the vesselhas an emergency situation, a blackout, or in other situations wherethere is no other option than to cut the cable. As another example,cable tension machine 438 may be placed before and after cleaningstation 436 that may help the cable from going slack and may aid theoperators when feeding cable through the deployment system. In oneembodiment, a cable tension machine does not significantly affect thecable tension on the winch. A cable tension machine may comprise twohorizontal rollers, and may also include a pair of vertical side-rollersto help prevent the cable from escaping sideways. The rollers may beretracted vertically or horizontally via electric, pneumatic, orhydraulic motors, and may allow nodes to pass without touching therollers.

In still other embodiments, the deployment system and/or overboardcontainer may include one or more node detection devices used toautomatically identify and track nodes during deployment and retrievaloperations. In one embodiment, such a system includes a radio-frequencyidentification (RFID) system that shows and identifies a node passing byparticular points in the deployment system by radio frequency, as wellas other wireless non-contact devices and methods (such as opticaldetection sensors) that can identify tags and other identificationdevices coupled to nodes.

Overboard System

FIGS. 5A, 5B, and 5C illustrate perspective, side, and top views,respectively, of one embodiment of an overboard system 500. Theoverboard system facilitates deployment and retrieval of a cable withcoupled nodes to and from the water and acts to guide the cable over thestern of the vessel. In one embodiment, overboard system 500 comprisesan overboard wheel 510, a cable detection system 520 that comprises acable detection unit or wheel 522, slewing ring assembly 530, retractionassembly 540, and overboard wheel frame 550. In one embodiment,overboard system 500 may be coupled to and/or located within a container(such as 40′ long high-cube container 430). The overboard system maycomprise or be coupled to a control system and a plurality of sensors ordetectors configured to detect the orientation, position, speed, andother characteristics of the deployment cable and/or nodes.

Retraction assembly 540 couples a retractable portion of overboardsystem 500 into overboard container 430. In one embodiment, retractionassembly 540 comprises a main frame that comprises a plurality ofhorizontal I-beams 542 fixed to the container floor, a plurality ofsliding frames or beams 544 that slide on horizontal beams 542 in alongitudinal direction, and a plurality of cylinders 546 configured totilt the overboard unit approximately 45 degrees before retracting theunit into the container. In one embodiment, the cylinders are fullyextended during normal operation of the deployment system and overboardunit, thereby keeping slewing ring assembly 530 in a substantiallyvertical position. The cylinders may be partially retracted to at leastpartially elevate, tilt, and/or retract overboard wheel 510 asnecessary. Overboard wheel 510 can be retracted into and out of acontainer for service, maintenance, storage, and/or transport. In oneembodiment, a plurality of cylinders (not shown) are mounted between andattaching to horizontal beams 542 and sliding beams 544 and areconfigured to slide the sliding beams 544 back and forth on the lowerbeams 542. Cable detection wheel 522 is configured to fold over the topof overboard wheel 510 when the overboard system is retracted into thecontainer. In one embodiment, the plurality of cylinders 546 aredirectly coupled or attached to slewing ring assembly 530 and/or frame536.

In one embodiment, slewing ring assembly 530 comprises a frame or plate536 surrounding slewing ring 532. In some embodiments, frame or plate536 may comprise a plurality of vertical beams that are attached tocylinders 546 and that act as a supporting structure for plate 536and/or slewing ring 532. Slewing ring 532 is a large diameter bearingthat allows high forces to act on it while it is rotating, such as axialand radial loads and tilt moments. Slewing ring 532 may be face mountedto a supporting structure or plate 536 and has a large hole through thecenter that can allow the node to pass through during deployment andretrieval of the cable. Slewing ring 532 is able to rotate by actuationof hydraulic motor 534 (shown in FIGS. 5B and 5C). In one embodimentslewing ring 532 is part of a rack and pinion system. Slewing ring 532may be coupled to wheel frame 550. In one embodiment, wheel frame 550comprises a partially open housing that extends over a portion ofoverboard wheel 510 and directly attaches to slewing ring 532 on one endor face of wheel frame 550. In other embodiments, wheel frame 550 maycomprise a pair of arms, with each arm connected to a side of overboardwheel 510. Overboard wheel 510 is coupled to slewing ring assembly 530by overboard wheel frame 550. Rotation of slewing ring 532 rotatesoverboard wheel frame 550 and overboard wheel 510 in a clockwise orcounterclockwise direction when viewing the overboard system from therear side of the vessel. In operation, wheel 510 is at least partiallydisposed over the back deck of the vessel, and in some embodiments allor substantially all of overboard wheel 510 extends beyond the back deckof the vessel. Cable detection system 520 comprises cable detectionwheel 522 and is coupled to overboard wheel 520 by a plurality of arms.In a typical deployment and/or retrieval operation, cable 108 extendsthrough the overboard unit container through slewing ring 532, overoverboard wheel 510, over cable detector wheel 522, and into a body ofwater. As described in more detail later, overboard system 500 isconfigured to pivot and/or rotate overboard wheel 510 and cabledetection system 520 in multiple directions in response to the cableposition as detected by wheel 522. In one embodiment, overboard wheel510 is configured to point and/or be positioned in the direction of thecable as it is being deployed and/or retrieved from the water and may bemaintained in a substantially aligned position with cable detectionwheel 522.

Overboard wheel 510 guides the deployment cable and protects the nodesas they enter and/or leave the vessel during deployment and/or retrievaloperations. This offers significant advantages over the prior art,including chutes, ramps, and other overboard units and wheels. Inparticular, because the disclosed system helps keep the cableconstrained on the overboard wheel without the cable falling off orbeing dragged to one side, which is typical in prior art overboardunits, the disclosed overboard system allows the vessel to operate inmore severe weather conditions, provides better control of thedeployment cable, reduces cable tension (less friction), and providesincreased operational safety and efficiency. In some embodiments, thedisclosed system facilitates alignment of the nodes into a pocket ofoverboard wheel 510 and protects the node and deployment cable fromstress and/or damage during retrieval and deployment operations.

Overboard Wheel

FIGS. 6A and 6B illustrate a side and top schematic, respectively, of aportion of overboard system 500. In one embodiment overboard wheel 610and cable detection system 620 are substantially similar to overboardwheel 510 and cable detection system 520. In one embodiment, overboardwheel 610 comprises two flanges 616 a and 616 b that are coupled to ashaft 611 and spaced apart by a plurality of roller modules 612.Overboard gear rim 654 is mounted on one or more of the flanges and isconfigured to rotate the overboard wheel in a clockwise andcounterclockwise fashion when viewed from the side of the overboardwheel (as shown in FIG. 6A). Overboard wheel frame 650 is coupled toslewing ring assembly and to overboard wheel 610 via shaft 611. Wheelframe 650 comprises one or more actuating motors 652 a, 652 b that areconfigured to move overboard gear rim 654. In one embodiment, the cablecircumference of the overboard wheel (e.g., the circumference around thewheel of which a deployment line or cable may travel) may be one quarterof the node-to-node distance. For example, the distance between adjacentnodes on the deployed cable may be approximately 25 meters, and thecable circumference for such an embodiment may be approximately 6.25meters.

In one embodiment, as shown in FIG. 6B, overboard wheel 610 comprises aplurality of (such as nine) roller modules 612 spaced apart in acircular fashion between flanges 616, so as to form opening or pocket618. Roller modules 612 form a path within overboard wheel 610 overwhich the cable with attached nodes moves across during deployment andretrieval. Overboard wheel 610 and roller modules 612 are shown in moredetail in FIGS. 7A-7D. As shown in FIGS. 7A and 7B, overboard wheel 610may also comprise a node opening or pocket 618 which is configured toreceive and/or hold a node when the deployment line is being retrievedand/or deployed across overboard wheel 610. Thus, pocket 618 is designedto fit the particular dimensions of the node and/or attached seismicdevice. In contrast to conventional overboard wheels, this designprotects the node and node locks from damage and stress when passingover overboard wheel 610, as the node does not directly contact theoverboard wheel during deployment and/or retrieval operations. Overboardwheel 610 is configured to rotate a predetermined or calculated distanceto position pocket 618 in the correct position to receive the node. Theposition of overboard wheel 610 relative to the cable may be configuredto automatically rotate just before a node lands on the wheel. The useof nine roller modules 612 makes it easy to slow down or speed upoverboard wheel 610 to fit and/or position the node in pocket 618. Inone embodiment, pocket 618 is sized to receive, store, and/or holdsubstantially all of a node while the deployment line is moving alongoverboard wheel 610. In some embodiments, overboard wheel 610 comprisesa plurality of pockets such that overboard wheel 610 may not need tochange its position as much to receive a node. In other embodiments,each of the roller modules 612 is substantially the same size, and inother embodiments, each of the roller modules 612 may comprise differentdiameters or sizes for easier node placement in pocket 618. In stillother embodiments, overboard wheel 610 may comprise a carousel typecarrier with a plurality of baskets, each sized to hold a node. Stillfurther, overboard wheel 610 may comprise a plurality of wheels with apocket between each wheel. In still other embodiments, pocket 618 isconfigured to hold and/or receive other seismic equipment, such astransponders and weights, which may be coupled to a deployment line in asimilar manner as nodes 110.

Each roller module 612 may comprise a welded distance module 613 and aroller 614 mounted on a shaft 615. In one embodiment, roller module 612is made of stainless steel components. The sides of welded distancemodule 613 are bolted to the inside portions of flanges 616 a and 616 b.As shown in more detail in FIGS. 7C and 7D, welded distance module 613comprises two sides which slope and/or radially curve to a middlesection to form a groove or middle point 613 a of the distance module. Amiddle portion of welded distance module 613 is open and/or removed toallow a portion 614 b of the roller to extend and/or protrude out froman opening in distance module 613. Thus, overboard wheel 610 isconfigured to allow a deployment line to contact a plurality of rollers614 during deployment and/or retrieval operations. Rollers 614 decreasethe resistance of cable movement over overboard wheel 610, therebypreventing friction and increasing the longevity of the deployment cableand attached nodes. In some situations, overboard wheel 610 need notsubstantially move and/or rotate during deployment and/or retrievaloperations as the rotation of the plurality of rollers 614 providesenough movement for deployment and/or retrieval of the cable. Rollermodules 612 may or may not be operatively coupled to each other. In oneembodiment roller modules 612 are not powered and simply rotate about ashaft with movement of the deployment cable, while in other embodimentsroller modules 612 may each be powered and/or actuated by a motor toassist in movement of the cable over overboard wheel 610.

As shown in more detail in FIG. 7B, while each of roller modules 612 maybe substantially the same size, welded modules 619 b surrounding pocket618 may be different than the remaining welded modules 613. Because thepocket 618 creates a space in overboard wheel 610, that space or openingmay be covered up or protected by various inserts, such as welded moduleinserts 619 a and 619 b. Inserts 619 a and 619 b may be positionedbetween and/or coupled to each of the roller modules 612 that areadjacent to pocket 618.

Cable Detection System

In one embodiment, cable detection system 620 is configured to monitorthe position of the cable (such as a vertical and horizontal angle ofthe cable) as it is being deployed and/or retrieved. In one embodiment,cable detection system 620 may monitor the cable angle in a plurality ofplanes (such as the vertical abeam plane and the vertical fore and aftplane). In other embodiments, cable detection system 620 may monitormovement of the wheel in a vertical direction and/or a horizontaldirection. In other embodiments cable detection system may also beconfigured to detect the position of a node. The overboard unit 610 isconfigured to change its position (whether by pivot or rotation) inresponse to measurements by cable detection system 620.

As shown in FIGS. 6A and 6B, cable detection system 620 comprises cabledetection unit 630, such as a cable detection wheel, and is coupled tooverboard wheel 610 by a plurality of cable detection arms 622. Cabledetection system 620 may also comprise a plurality of arms 628 thatcouples cable detection wheel 630 to detection arms 622. In oneembodiment plurality of arms 622 are attached to shaft 611 on overboardwheel 610. Cable detection system 620 may also comprise a plurality ofcounterweight arms 624 coupled to one or more counterweights 625.Counterweight arms 624 are used to balance and/or account for the weightof cable detector wheel 630 and associated components on the overalloverboard system, allowing for more precise sensing and control of thesystem. In one embodiment, counterweight arms 624 can be extendedtowards and/or away from overboard wheel 610 to change the weightedbalance of the overboard system. Counterweight arms 624 are configuredto allow movement of detector wheel 630 in a horizontal and/or verticaldirection if the arms are in an open position adjacent to overboardwheel 610.

In one embodiment, as shown in FIG. 6B, cable detection wheel 630 may bea roller wheel 635 with a groove 632 angled down the center of rollerwheel 635 and configured to receive the deployment cable. Roller wheel635 is configured to rotate around shaft 638. Wheel 630 may comprise aplurality of flanges 634 a, 634 b on either side of roller wheel 635.Cable detection wheel 630 is coupled to cable detection system 620 by afork 628 comprising a plurality of arms 628 a, 628 b coupled to shaft638. The cable detection system 620 may pivot around the center ofoverboard wheel 610. In other embodiments wheel 630 may comprise aplurality of detection spokes that extend out from the wheel in a radialdirection. In some embodiments, overboard cable detection wheel 630 canbe folded in over the top of overboard wheel 610, which is particularlyuseful when the overboard unit is retracted in the container. In oneembodiment cable detection wheel 630 is not powered and simply rotatesabout shaft 638 with movement of the deployment cable, while in otherembodiments cable detection wheel 630 may be powered and/or actuated bya motor to assist in movement of the cable. In still other embodiments,cable detection wheel may be similar in configuration but smaller insize as compared to overboard wheel 610, and may also include a pocketconfigured to receive a node.

As shown in FIG. 6A, cable detection system 620 may comprise a verticalshaft 642, a horizontal shaft 644, and one or more cylinders (hydraulicor pneumatic) 646. Vertical shaft 642 may be coupled to plurality ofarms 628 and is configured to rotate cable detector wheel 630 in ahorizontal direction (e.g., left to right and right to left when viewedfrom the rear). Horizontal shaft 644 may also be coupled to plurality ofarms 628 and is configured to air dampen cable detector wheel 630 in avertical direction. In other words, cable detector wheel 630 is able topivot and/or rotate in multiple planes and/or directions based onrotation around shafts 642 and/or 644, which in one embodiment may beconsidered a pivot or fulcrum point for cable detector wheel 630.Cylinders 648 (see FIG. 6B) are attached to counterweight arms 624 andare configured to extend and retract arms 624 as appropriate. In oneembodiment, cable detection system 620 may comprise an air cushionsystem, which may be coupled to cylinder 646 and additional hydrauliccylinders. The air cushion system helps stabilize the position of cabledetection wheel 630 and prevents unwanted movement of cable detectionwheel 630. The responsiveness and/or stiffness of the air cushion systemcan be adjusted to respond to movements of the cable detection wheelquicker. In one embodiment, the air cushion system and/or cylinder 646function as a micro adjustment to the cable detection system in that itcan make minor changes to the position of the cable detector wheel in afast and efficient manner. On the other hand, movement of cabledetection arms 622 about shaft 611 functions as a macro adjustment tothe cable detection system in that arms 622 can make large changes tothe position of cable detection wheel 630 if necessary. Plurality ofcounterweight arms 624 coupled to one or more hydraulic cylinders 646helps cable detector wheel 630 operate within an intended range ofmotion that is not outside the air cushion system's operational range.In one embodiment, the range of the air cushion is set by the length ofthe piston within cylinder 646 and the air pressure inside cylinder 646.

Cable detection system 620 may also comprise and/or be coupled to acontrol system configured to move overboard wheel 610 and/or cabledetection wheel 630 in response to cable measurements and/or positions.In one embodiment, the control system can make various measurements atdifferent portions of the deployment system and/or overboard system,including tension on the cable, angle of the cable, and speed of thecable, and the like. Some embodiments of the control system may use aclosed-loop regulation where a signal from the outboard cable detectionwheel 630 will direct overboard wheel 610 to always point in the cabledirection. The control system may be configured to continuously obtainand utilize information about vessel roll, yaw, and pitch (speed andamplitude) and other factors (cable speed, tension, and deployed length)to ensure adequate speed and force on the pivot movement and operationof the overboard wheel. In some embodiments, a node position signal maycome from an inboard or outboard node detection system, as describedbelow. In one embodiment, the control system comprises a plurality ofmeasuring sensors coupled to the cable detection system that areconfigured to keep overboard wheel 610 in line with the cable and/orcable detection wheel 630. In other embodiments, the measuring sensorsmeasure both a vertical and horizontal cable angle relative to thecurrent overboard wheel position. A first measuring sensor may belocated on or coupled to vertical shaft 642, a second measuring sensormay be located on or coupled to horizontal shaft 644, and a thirdmeasuring sensor may be located on or coupled to one of more of arms622, 624, and 628. In one embodiment, sensors located in shafts 642, 644detect relative movement between the shaft and the shaft housing. Insome embodiments, the control system may also comprise a plurality ofposition sensors, such as incremental and absolute encoders, which areconfigured to take measurements of the orientation, position, and/orvelocity of the various components of the deployment system (including avertical and horizontal angle of the deployment cable) to enable thecontrol system to respond accordingly.

In one embodiment, as shown in FIG. 6A, hydraulic piston 626 may couplewheel frame 630 to one or more of arms 622. Actuation of piston 626 maydrive cable detection wheel 630 towards the cable at a predeterminedforce (such as 20 kg). The force towards the cable should be strongenough for cable detection wheel 630 to not let go of or decouple fromthe deployed cable but also weak enough to not significantly affect thecable path. In other words, the force applied from cable detection wheel630 should be a small resistance force and/or just enough force todetermine the position of the cable during deployment and/or retrievalof the cable. Such a small force causes minimum stress and friction tothe node and node lock as they pass over the cable detection wheel. Inone embodiment groove 632 is sized and configured to receive the cableand to hold the cable within the groove such that any force directed onthe cable is transferred to cable detection wheel 630. A change in cabledirection may move cable detection wheel in a horizontal and/or verticaldirection. Such movement may be detected by one or more measuringsensors. The control system and/or motor 534 driving slewing ring 532may rotate overboard wheel 610 in a position to more effectively deployand/or retrieve the cable. In one embodiment, overboard wheel 610 maymove into a position such that the cable path on the overboard wheel 610and cable detector wheel 630 are substantially aligned and/or within thecenter position or groove of such wheels. Such cable direction changesmay be caused by any number of vessel, cable, or environmental factors,including change in vessel direction, speed, or angle, as well as achange in the cable direction, speed, or angle, as well movements causedby a vessel roll or changes in crab-angle.

This horizontal movement is reflected in FIGS. 8A-8E, which show variousrear view schematics of overboard wheel 610 and cable detection wheel630 of an overboard system during deployment and/or retrieval of acable. FIG. 8A shows overboard wheel 610 and cable detection wheel 630in a starting or initial position 801 a and 802 a, respectively. In thisembodiment, the central axis of each wheel is substantially alignedalong a vertical axis. As shown in FIG. 8B, when cable detection wheelmoves horizontally to the right to position 802(b), the vertical axis ofthe cable detection wheel is now misaligned with the vertical axis ofthe overboard wheel. The control system is configured to detect thischange in position of the cable detection wheel and/orposition/direction/angles of the cable, and based upon variousalgorithms and predetermined control points, the control system rotatesslewing ring 532 so as to change the position of the overboard wheel ina counterclockwise direction (as viewed from the back and as shown inFIG. 8C) to position 801 c so as to better align the cable route overthe overboard wheel and cable detection wheel. Movement of overboardwheel 610 to position 801 c causes cable detection wheel 630 to move toposition 802 c, as shown in FIG. 8C. If the cable moves horizontallyleft from an initial position, an equivalent (but opposite) procedure isperformed as shown in FIGS. 8D and 8E, eventually causing overboardwheel 610 to move to a position 801 e and cable detection wheel 630 tomove to a position 802 e. In one embodiment, the misaligned positions inFIGS. 8B and 8D are exaggerated to show movement and operation of thesystem, and in one embodiment the overboard wheel and cable detectionwheel are never substantially misaligned as the control system is ableto move the overboard wheel in response to minor position changes of thecable detection wheel in substantially real time. Various operationparameters and set points may be used by the control system toeffectively control the movement of the overboard wheel. For example, ifonly a small movement is detected by the cable detection wheel theoverboard wheel may move only a small position in a slow manner.However, if a large movement is detected by the cable detection wheelthe overboard wheel may move a small or large position in a quickmanner. Other embodiments may vary the manner, timing, degree, andextent of movement of the overboard wheel, including a delayed movementor predetermined thresholds prior to any movement based upon the changein position of the cable detection wheel.

As mentioned above, cable detection wheel 630 is configured to move in avertical direction in response to one or more hydraulic cylinders and/orbased upon the cable force. FIGS. 9A-9C illustrate various side viewschematics (in simplified format) of overboard wheel 610 and cabledetection wheel 630 of an overboard system during deployment and/orretrieval of a cable. For simplicity, some of the elements from FIG. 9Aare not shown in FIGS. 9B and 9C. In an initial position as shown inFIG. 9A, the central horizontal axis of overboard wheel 610 and cabledetection wheel 630 in a position 902 a are substantially aligned. Inone embodiment, fulcrum 901 is a coupling point between the overboardwheel and the cable detection wheel that may pivot horizontally and/orvertically. In one embodiment, it comprises a horizontal shaft (such asshaft 644) and a vertical shaft (such as shaft 642). In otherembodiments shafts 644 and 642 may be coupled to separate portions of aframe coupled to the cable detector wheel. In one embodiment, fulcrum901 is coupled to cable detector wheel 630 by one or more arms 930 (suchas arms 628 in FIGS. 6A and 6B) and overboard wheel 610 by one or morearms 910 (such as arms 622 in FIGS. 6A and 6B). For various situations,the cable detection wheel can be moved into lower positions 902 b and902 c (as shown in FIGS. 9B and 9C) by one or more hydraulic cylinders,which may remove some or all of the force exerted on the detection wheelby the cable. Likewise, if enough force from the cable is exerted on thecable detection wheel it may also be pushed into a lower position by theforce of the cable. In one embodiment, the cable detection wheel isconfigured to rotate upon pivot fulcrum point 901 in response to appliedforce by the cable such that it may be moved from a first position 902 ato a second position 902 b. This movement may or may not be cushioned byoperation of cylinder 646 (see FIG. 6A). In some embodiments, ratherthan having a large cable force continually exerted on the cabledetection wheel (which may cause damage to the node and/or cabledetection system and extend pass the operating point of cylinder 646),if sufficient force is acted upon the wheel, the control system isconfigured to re-position the cable detection wheel (e.g., to lower it)to minimize the force acted upon the wheel and/or cylinder 646. In oneembodiment, cable detection wheel can be lowered from an upper position902 b to a lower position 902 c by operation of cylinder 626 (see FIG.6A), which lowers arms 910 coupled to the cable detector wheel.Likewise, if there is not sufficient force acting upon the cabledetection wheel, the control system is configured to re-position thecable detection wheel (e.g., to raise it) until there is a minimalresistance and/or force acting upon the wheel (such as 20 kg) such thatit can detect changes in a position of the cable. In these operations,the vertical position of the overboard wheel may stay substantially thesame.

In other embodiments, the cable detection system may also comprise anode detection system, which is configured to detect the position of thenodes on the cable as they are being deployed and/or retrieved throughthe overboard system. The node detection system can be located inboardor outboard of the overboard wheel. For example, an outboard nodedetection wheel (which may be the same wheel as the cable detectionwheel) may be forced down by a node passing over the top of the nodedetection wheel rather than or in addition to the cable running in agroove on the detection wheel. In such embodiments, the downwardmovement followed by an upward movement when the node passes the nodedetection wheel may be recognized by a control system and the exact nodelocation may be established. The node detection wheel may includeflexible spokes sticking out of the wheel and the detection wheel maycatch the cable behind the node when a node is passing. The cabledetection system may also comprise an inboard node detection device inone or more positions along the deployment system, which may be used indeployment operations. In one embodiment the inboard node detectiondevice may be located between the slewing ring and the overboard wheel.The inboard node detection device may comprise a fork or arm positionedover or adjacent to the deployment cable. As the node is approaching theoverboard wheel (whether during retrieval or deployment), the fork maylower onto the cable by a pneumatic cylinder or other moving device.When a ferrule on the cable touches the fork, the arm with the fork mayraise automatically to allow the node to pass and the exact location ofthe node may be established. With such a node detection system (whetherlocated inboard or overboard), the speed of the overboard wheel may beadjusted (increased or decreased) for the node to land in the pocket. Inother embodiments, non-mechanical detection systems, such as a lightcurtain, electromagnetic sensor, or optical sensor may be positioned onthe node detection system that detects the position of a node.

In some embodiments, the overboard system may also comprise one or morenode orientation detection systems, which is configured to detect oddnode orientation and/or directions (for example, all nodes may not hangunderneath the cable) or foreign objects coupled to the node and/orcable, such as fishing gear or other debris caught by the cable/node.The orientation detection system may also detect improperly connectednode locks or nodes that have not been latched or attached correctly tothe cable. In one embodiment, an inboard node orientation detection maybe located between the overboard wheel and the slewing ring. In such anembodiment, the control system may be programmed to stop and alert theoperator that a node has not gripped firmly around the cable. Theoperator may then acknowledge the warning and continue with thedeployment process and/or stop the deployment and manually remove thenode and couple a new node in its place. Various embodiments exist thatmay be used to detect node attachment issues, including light-curtains.In one embodiment, light curtains are opto-electronic devices that use aplurality of lasers to detect small movements within the sensitivityrange of the light curtain by projecting an array of parallel infraredlight beams from one or more transmitters to one or more receivers. Whenan object breaks one or more of the beams a signal is sent to thedevice. In one embodiment light curtains act as safety devices, and acontrol system may be configured to stop a particular device and/ordeployment system when the light curtain is triggered. By reducing theneed for physical guards and barriers, light curtains can increase themaintainability of the equipment they are guarding. The operability andefficiency of machinery can also be improved by the use of lightcurtains by, for example, allowing easier access for semi-automaticprocedures.

FIG. 10 illustrates one embodiment of a method 1000 for deploying acable with a plurality of attached nodes from a marine vessel into abody of water. In an embodiment, the method starts at block 1002 bydeploying a length of a deployment line 108 from a marine vessel. In oneembodiment, the deployment of cable 108 starts by deploying a length ofcable through the deployment system from the winch container 326,through the node installation container 324, and then through overboardcontainer 322 and into the water. The cable may be routed manually,semi-automatically, or automatically through slewing ring 532 and frame550, over overboard wheel 510, and over cable detection wheel 522 intothe water. One or more weights may be attached to the cable before orafter the cable passes through node installation container 324. Once theappropriate length of cable has been deployed into the water, node 110is directly attached to the deployment cable by one or more node locksin node installation container 324, as described more fully inApplicant's co-pending U.S. patent application Ser. No. 14/820,306,entitled System for Automatically Attaching and Detaching Seismic NodesDirectly to a Deployment Cable, filed on Aug. 6, 2015, incorporatedherein by reference. At block 1004, the method includes positioningoverboard wheel 510 to receive the seismic node. In one embodiment thedeployment system determines the position of the node on the cable priorto the node crossing over overboard wheel 510. One or more nodedetection devices (such as a light curtain) may be located in the nodeinstallation container and/or overboard container to determine aposition of the node. In other embodiments, node installation machine422 in node installation container 420 determines the position of thenode. The control system rotates overboard wheel 510 in either aclockwise or counterclockwise direction to position the node in a pocket618 on the overboard wheel based on the measured and/or calculated nodeposition. At block 1006, the method includes deploying the cable withthe attached first node into the water across the overboard wheel 510.In one embodiment the tension/force on the deployment cable drags,pulls, or moves the node over overboard wheel 510 and over secondoverboard wheel 522 and then passes into the water. In some embodiments,overboard wheel 510 is actively rotated (e.g., powered) to match thedeployment speed of the cable. At block 1008, the method includespositioning overboard wheel 510 to receive a second seismic node basedon the determined position of the second node. At block 1010, the methodincludes deploying the cable with the second attached node into thewater. This process is repeated until the desired number of seismicnodes has been deployed into the water. In some embodiments, the rate ofdeployment can be varied and/or stopped as needed and is controlled by amaster control system that is integrated with the primary components ofthe node deployment system and overboard system. In some embodiments,such as shown in optional block 1012, the method includes positioningoverboard wheel 510 in response to a change of direction of the deployedcable for more effective cable deployment. For this step, a cabledetection unit (such as cable detection wheel 522) determines theposition of the deployed cable and/or node and sends those measurementsto a control system that changes the position (lateral, pivot, orrotational movements) of the overboard wheel and/or cable detectionwheel in response to movement of the cable detection wheel and/ormeasurements of the cable positions.

The retrieval operation is substantially equivalent to the deploymentoperation and is generally performed in a reverse manner as to thedeployment method. FIG. 11 illustrates one embodiment of a method 1100for retrieving a cable with a plurality of attached nodes onto a marinevessel from a body of water. In an embodiment, the method starts atblock 1102 by retrieving a length of a deployment line 108 with aplurality of attached nodes from a body of water onto a marine vessel.In one embodiment a winch system begins retrieval of the deployed cable108 with the coupled nodes. At block 1104, the method includesdetermining a position of a first seismic node prior to its passing overthe overboard wheel. In one embodiment, one or more outboard and/orinboard node detection devices located at one or more locations in thedeployment system (which may or may not be located in the overboardsystem) determines and/or calculates a position of the node. At block1106, the method includes positioning overboard wheel 510 to receive thefirst node. In one embodiment, the determined node position is used by acontrol system to rotate overboard wheel 510 into a position to receivethe node in pocket 618 as the cable passes over overboard wheel 510. Thecable and attached node is routed through the overboard containerthrough a cleaning station and then passed through the node installationcontainer 324 for detachment, removal, and/or decoupling of the nodefrom the rope. In some embodiments, overboard wheel 510 is activelyrotated (e.g., powered) to match the recovery speed of the cable. Atoptional block 1108, the method includes positioning overboard wheel 510in response to a change of direction of the deployed cable as the cableis further retrieved. Cable detection system 520 and/or cable detectionwheel 522 may move with the deployed cable as it is being retrieved.Based on the position of cable detection wheel 522 the position ofoverboard wheel 510 may be varied to more effectively retrieve the cableand prevent the cable from falling off overboard wheel 510. At block1110, the method includes determining a position of a second node priorto its passing over the overboard wheel. At block 1112, the methodincludes positioning overboard wheel 510 to receive a second node basedon a determined position of the second node. This process is repeateduntil all of the nodes are recovered and detached from the cable and theentire cable is retrieved.

Many other variations in the overall node deployment configuration,overboard system, and arrangement of node locks and/or direct attachmentmechanisms are possible within the scope of the invention. For example,while many of the disclosed embodiments discuss the deployment andretrieval of a cable with a plurality of attached nodes, other seismicdevices or equipment, such as transponders and weights, may be directlyattached to the node and deployed to and/or retrieved from the water bythe overboard system in a similar manner as to the deployment andretrieval of the nodes. In other words, the disclosed overboard systemcan be used for the deployment of a variety of cables, seismic cables,and seismic devices. Further, the described overboard wheel and/or cabledetection wheel may be used with a deployment system that is notcontained within containers and/or does not utilize autonomous seismicnodes directly attached to a cable via one or more node locks. It isemphasized that the foregoing embodiments are only examples of the verymany different structural and material configurations that are possiblewithin the scope of the present invention.

Although the invention(s) is/are described herein with reference tospecific embodiments, various modifications and changes can be madewithout departing from the scope of the present invention(s), as setforth in the claims below. Accordingly, the specification and figuresare to be regarded in an illustrative rather than a restrictive sense,and all such modifications are intended to be included within the scopeof the present invention(s). Any benefits, advantages, or solutions toproblems that are described herein with regard to specific embodimentsare not intended to be construed as a critical, required, or essentialfeature or element of any or all the claims.

Unless stated otherwise, terms such as “first” and “second” are used toarbitrarily distinguish between the elements such terms describe. Thus,these terms are not necessarily intended to indicate temporal or otherprioritization of such elements. The terms “coupled” or “operablycoupled” are defined as connected, although not necessarily directly,and not necessarily mechanically. The terms “a” and “an” are defined asone or more unless stated otherwise. The terms “comprise” (and any formof comprise, such as “comprises” and “comprising”), “have” (and any formof have, such as “has” and “having”), “include” (and any form ofinclude, such as “includes” and “including”) and “contain” (and any formof contain, such as “contains” and “containing”) are open-ended linkingverbs. As a result, a system, device, or apparatus that “comprises,”“has,” “includes” or “contains” one or more elements possesses those oneor more elements but is not limited to possessing only those one or moreelements. Similarly, a method or process that “comprises,” “has,”“includes” or “contains” one or more operations possesses those one ormore operations but is not limited to possessing only those one or moreoperations.

What is claimed is:
 1. A system for deploying a plurality of autonomousseismic nodes from a marine vessel, comprising: an overboard wheel thatat least partially extends off a marine vessel, wherein the overboardwheel is configured to deploy a deployment line coupled to a pluralityof autonomous seismic nodes into a body of water, wherein the overboardwheel is powered to change its position during deployment of theplurality of autonomous seismic nodes, wherein each of the plurality ofautonomous seismic nodes comprises at least one seismic sensor, at leastone data recording unit, and at least one clock, wherein the pluralityof autonomous seismic nodes are configured to be attached to thedeployment line before passing over the overboard wheel; and a controlsystem that comprises a plurality of sensors configured to detect atleast one of an orientation, position, or speed of the deployment line.2. The system of claim 1, wherein the width of the overboard wheel is atleast the width of the autonomous seismic node.
 3. The system of claim1, wherein the overboard wheel comprises one or more openings configuredto receive one of the plurality of autonomous seismic nodes as the nodepasses along the overboard wheel.
 4. The system of claim 3, wherein theone or more openings protects the autonomous seismic node from damagefrom the overboard wheel during deployment.
 5. The system of claim 1,further comprising a cable detection system coupled to the overboardwheel.
 6. The system of claim 1, further comprising an autonomousseismic node detection system coupled to the overboard wheel.
 7. Thesystem of claim 1, wherein the overboard wheel is configured to changeits position in response to a position of one of the plurality ofautonomous seismic nodes.
 8. The system of claim 1, wherein theoverboard wheel is configured to change its position in response tomovement of the deployed deployment line.
 9. The system of claim 1,further comprising a cable detection system configured to detect achange of position of the deployed deployment line, wherein the cabledetection system comprises a plurality of sensors configured to detectsaid change of position.
 10. The system of claim 1, further comprisingone or more cable detection sensors configured to detect a change ofposition of the deployed deployment line.
 11. The system of claim 1,further comprising one or more node detection sensors configured todetect a position of the plurality of autonomous seismic nodes.
 12. Thesystem of claim 1, wherein the control system is configured to detectthe position and speed of the deployment line.
 13. The system of claim1, wherein the control system is configured to detect a position of theplurality of autonomous seismic nodes, wherein the overboard wheel isconfigured to rotate its position based upon the detected position. 14.The system of claim 1, wherein the overboard wheel is configured tochange its position in response to a change of position of thedeployment line.
 15. The system of claim 1, wherein the overboard wheelis configured to change its position in response to a detected positionof one of the plurality of autonomous seismic nodes.
 16. The system ofclaim 1, further comprising a node installation system on a back deck ofthe marine vessel that is configured to attach the plurality ofautonomous seismic nodes to the deployment line, wherein the deploymentline is coupled to the node installation system and the overboard wheel.17. A method comprising: deploying a deployment line from a marinevessel, attaching a plurality of autonomous seismic nodes to thedeployment line, wherein the plurality of autonomous seismic nodes areconfigured to be attached to the deployment line; deploying thedeployment line with the attached plurality of autonomous seismic nodesacross a powered overboard wheel; automatically positioning theoverboard wheel to receive a first node of the plurality of autonomousseismic nodes; deploying the first node into a body of water; andautomatically positioning the overboard wheel based on movement of thedeployed deployment line.
 18. The method of claim 17, further comprisingautomatically detecting the position of the first node on the deploymentline and automatically rotating the overboard wheel into a position toreceive the first node in an opening of the overboard wheel based on thedetected position.
 19. The method of claim 17, further comprisingautomatically positioning the overboard wheel based on a change ofdirection of the deployment line.
 20. A system for deploying a pluralityof seismic nodes from a marine vessel, comprising: an overboard wheelthat at least partially extends off a marine vessel, wherein theoverboard wheel is configured to deploy a deployment line coupled to aplurality of seismic nodes into a body of water, wherein the overboardwheel is powered to change its position during deployment of theplurality of seismic nodes; and a cable detection system coupled to theoverboard wheel.
 21. The system of claim 20, wherein the overboard wheelis configured to change its position in response to a measurement by thecable detection system.
 22. The system of claim 20, wherein the cabledetection system is configured to detect a change of position of thedeployed deployment line.
 23. The system of claim 20, wherein the cabledetection system comprises one or more sensors configured to measure atleast one of the orientation, position, and speed of the deploymentline.
 24. The system of claim 20, wherein the overboard wheel isconfigured to change its position in response to movement of thedeployed deployment line.
 25. The system of claim 20, wherein the cabledetection system is configured to monitor an angle of the deployeddeployment line.
 26. The system of claim 25, wherein the angle comprisesa vertical angle and an horizontal angle of the deployment line.
 27. Thesystem of claim 20, wherein the plurality of seismic nodes comprises aplurality of autonomous seismic nodes, wherein each autonomous seismicnode comprises at least one seismic sensor, at least one data recordingunit, and at least one clock.
 28. The system of claim 20, wherein theplurality of seismic nodes comprises a seismic cable.
 29. A system fordeploying a plurality of seismic nodes from a marine vessel, comprising:an overboard wheel that at least partially extends off a marine vessel,wherein the overboard wheel is configured to deploy a deployment linecoupled to a plurality of seismic nodes into a body of water, whereinthe overboard wheel is powered to change its position during deploymentof the plurality of seismic nodes; and a node detection system coupledto the overboard wheel.
 30. The system of claim 29, wherein the nodedetection system comprises one or more sensors configured to detect aposition of each of the plurality of seismic nodes.
 31. The system ofclaim 29, wherein the overboard wheel is configured to change itsposition in response to a detected position of each of the plurality ofseismic nodes.
 32. The system of claim 29, wherein the overboard wheelis configured to automatically rotate its position to receive each ofthe plurality of seismic nodes.
 33. The system of claim 29, furthercomprising a cable detection system configured to detect a change ofposition of the deployed deployment line.
 34. A system for deploying aplurality of seismic nodes from a marine vessel, comprising: anoverboard wheel that at least partially extends off a marine vessel,wherein the overboard wheel is configured to deploy a deployment linecoupled to a plurality of seismic nodes into a body of water, whereinthe overboard wheel is powered to change its position during deploymentof the plurality of seismic nodes; and a control system coupled to theoverboard wheel that comprises one or more sensors configured to detecta change of position of the deployed deployment line or a position ofeach of the plurality of seismic nodes.
 35. The system of claim 34,wherein the overboard wheel is configured to change its position inresponse to measurements by the control system.
 36. The system of claim35, wherein the change of position is in the horizontal plane orvertical plane.
 37. The system of claim 35, wherein the change ofposition is a rotation of the overboard wheel.
 38. The system of claim34, wherein the control system comprises at least one sensor configuredto detect at least one of the orientation, position, and speed of thedeployment line.